Mitsubishi Electric MELSEC Q Series Programming Manual page 474

7 AUXILIARY AND APPLIED FUNCTIONS
Confirm the status of continuous operation to torque control mode with
"Continuous operation to torque control (b14)" of servo status3 (#8012+20n).
When the mode is switched to continuous operation to torque control mode,
the value in "control mode (b2, b3)" of servo status1 (#8010+20n) will stay
the same before control mode switching.
1) Continuous operation to torque control mode (b14) of servo status3
(#8012+20n)
b14
0 Not continuous operation to torque control mode
1
POINTS
(1) When the mode is switched from position control mode to continuous
operation to torque control mode, only the switching from continuous operation
to torque control mode to position control mode is possible. If the mode is
switched to other control modes, a minor error (error code: 155) will occur, and
the control mode is not switched.
(2) When the mode is switched from speed control mode to continuous operation
to torque control mode, only the switching from continuous operation to torque
control mode to speed control mode is possible. If the mode is switched to
other control modes, a minor error (error code: 155) will occur, and the control
mode is not switched.
(b) Precautions at control mode switching
1) The positioning start complete signal (M2400+20n) and positioning
complete signal (M2401+20n) do not turn ON at control mode switching.
2) During continuous operation to torque control, the start accept flag
(M2001+n) turns ON.
3) When using continuous operation to torque control mode, use the servo
amplifiers that are compatible with continuous operation to torque
control. If servo amplifiers that are not compatible with continuous
operation to torque control are used, a minor error (error code: 318) will
occur at request of switching to continuous operation to torque control
mode. (A deceleration stop is made during the positioning control. The
mode is switched to position control during the speed control, and the
operation immediately stops.)
Continuous operation to torque control mode
Continuous operation to torque control mode
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